sequential_scan_matcher.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029  */
00030 
00039 #ifndef POSE_GRAPH_SEQUENTIAL_SCAN_MATCHER_H
00040 #define POSE_GRAPH_SEQUENTIAL_SCAN_MATCHER_H
00041 
00042 #include <graph_slam/scan_manager.h>
00043 #include <boost/circular_buffer.hpp>
00044 
00045 namespace graph_slam
00046 {
00047 
00048 namespace pg=pose_graph;
00049 
00050 
00051 class SequentialScanMatcher : public ScanManager
00052 {
00053 public:
00054   
00055   SequentialScanMatcher(const geometry_msgs::Pose2D& laser_offset, double max_link_length,
00056                         unsigned min_chain_length, double min_response, bool use_covariances);
00057 
00058   NodeConstraintVector getConstraints (const pg::PoseGraph& g, const pose_graph::NodeId ref_node,
00059                                        const Pose& initial_pose_estimate,
00060                                        const LaserPtr scan) const;
00061 
00062   ChainVec candidateChains (const pg::PoseGraph& graph, pose_graph::NodeId ref_node, 
00063                             const geometry_msgs::Point& barycenter, const LaserPtr scan) const;
00064 
00065   void addRunningNode (const pg::NodeId& n);
00066   
00067 private:
00068 
00069   // Mutable because it is initialized in getConstraints, which is logically const
00070   mutable KartoMatcherPtr matcher_; 
00071 
00072   const double max_link_length_;
00073   const double min_chain_length_;
00074   const double min_response_;
00075   const double use_covariances_;
00076 
00077   boost::circular_buffer<pg::NodeId> running_nodes_;
00078 
00079 };
00080 
00081 } // namespace
00082 
00083 #endif // include guard


graph_slam
Author(s): Bhaskara Marthi
autogenerated on Tue Jan 7 2014 11:17:21